WO2012122581A1 - Dispositif de chargement utilisant un appareil de chargement télescopique - Google Patents

Dispositif de chargement utilisant un appareil de chargement télescopique Download PDF

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Publication number
WO2012122581A1
WO2012122581A1 PCT/AT2012/050034 AT2012050034W WO2012122581A1 WO 2012122581 A1 WO2012122581 A1 WO 2012122581A1 AT 2012050034 W AT2012050034 W AT 2012050034W WO 2012122581 A1 WO2012122581 A1 WO 2012122581A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
boom
telescopic
pivot
telescopic drive
Prior art date
Application number
PCT/AT2012/050034
Other languages
German (de)
English (en)
Inventor
Josef Erlinger
Hans Heinrich Schmidt
Harald THUMFART
Original Assignee
Wacker Neuson Linz Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wacker Neuson Linz Gmbh filed Critical Wacker Neuson Linz Gmbh
Priority to EP12714925.0A priority Critical patent/EP2686265B1/fr
Publication of WO2012122581A1 publication Critical patent/WO2012122581A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems

Definitions

  • the invention relates to a device for loading with telescoping loading device, in particular a loading vehicle (1), with at least one teleskoppable equipped with telescopic boom, the rear, vehicle-side boom end is pivotally hinged to a frame and the free end of the boom with a loading tool can be coupled, wherein the boom is additionally displaced with a pivot drive between a lower and an upper working position.
  • a loading vehicle (1) with at least one teleskoppable equipped with telescopic boom, the rear, vehicle-side boom end is pivotally hinged to a frame and the free end of the boom with a loading tool can be coupled, wherein the boom is additionally displaced with a pivot drive between a lower and an upper working position.
  • Loading vehicles especially telescopic loaders, generally have a tool holder that can be equipped with different attachment tools to perform a variety of jobs.
  • the tool holder on a telescopic loader is usually arranged at the free end of the boom and can be pivoted about a free end of the boom mounted kinematics about an axis extending transversely to the longitudinal axis of the telescopic loader, whereby, inter alia, an approximate parallel guidance of a tool between lower and upper working position can be guaranteed ,
  • Such loading vehicles lift a tool along an arc around the vehicle-side articulation point of the boom, wherein the tool within a Hub Schles moved away from the loader vehicle forward and is moved back to the loader vehicle after exceeding the maximum distance to the loader vehicle. This arcuate movement can be superimposed by a linear movement by telescoping the boom accordingly.
  • telehandlers In operation, telehandlers should be able to lift, lower and relocate heavy loads in short periods of time. High demands are placed on the driver with regard to the simultaneity of the control of the individual drives, which can cause hazardous situations, in particular tilting of the loader, if the machine malfunctions. For this reason, telehandlers are equipped with an automatic overload protection, as known for example from DE 10 2009 018072 A1. In the solutions presented so far, for example, the hydraulic connection between the pump and hazardous consumers is switched off in case of overload. So that the vehicle remains stable due to the then acting braking acceleration and in particular does not tip over, the lowering speed of the work equipment is generally or depending on suitable sensor signals reduced, but this increases the time duration of the work cycles.
  • the present invention seeks to provide a charging system, a method for driving a mobile machine and a mobile machine, in particular a telescopic loader, lifted with the high loads in shortened periods, lowered and can be offset.
  • a movement which is as fast as possible along a vertical over at least one stroke range should also be possible over shorter periods of time.
  • the invention achieves this object by the fact that the boom length in connection with the boom pivoting position is limited by a control associated with the telescopic drive and the pivot drive to a region which does not project beyond a virtual, vertical plane perpendicular to the boom pivot axis in the region of the free boom end, wherein the normal distance of the plane to the boom pivot axis is smaller than the largest boom length.
  • the functions according to the invention can only be provided for lowering or lifting functions or for lowering and lifting functions.
  • a manual overlay of the lifting function with the telescoping function of the controller can remain possible.
  • the Austeleskopierfunktion When lifting vertically, the Austeleskopierfunktion can be switched off when it comes to a load magnifying moment in the longitudinal direction of the machine which would cause a risk situation in size.
  • the movement When lowering, the movement can also be allowed by overlaying the Austeleskopierfunktion. As soon as the stability of the machine is in the limit range, only the lowering movement in the vertical movement according to the invention can take place automatically.
  • a telescoping with the function is in any case not critical and can be allowed in any case.
  • vertical stroke is understood to mean that a load or a tool is displaced along or behind a vertical which is related to the vehicle coordinate system and is displaced synchronously with the vehicle, in particular during the movement of the vehicle.
  • a load along a straight line can be displaced as well as from a circular or arcuate path, which does not leave the permitted range.
  • telescopic drive and the rotary actuator for the realization of the vertical stroke according to the invention can be automatically controlled by only one control specification.
  • an operator who, for example, removes a heavy load from a shelf can automatically lower the load by the controller immediately after being released, without fear of tipping the vehicle.
  • the load is preferably lowered vertically or partially vertically, for which purpose the telescopic cylinder of the boom is retracted parallel to its lowering movement.
  • In a vertical displacement does not increase the load torque and the machine can not tilt, so the overload shutdown can be made relatively simple.
  • the duration of the work cycles can sometimes be increased compared to prior art machines.
  • the invention can be realized in various ways.
  • a hydraulic or electro-hydraulic telescopic drive and rotary actuator will be provided for the charging system.
  • the Vertikalhubfunktion can be made switchable, so if necessary, the machine optionally realize free working cycles in the context of the prior art or can perform lifting and lowering movements in Vertikalhub.
  • an oil volume flow for example, initially supplied to the pivot drive for raising / lowering the boom.
  • the displaced in the rotary actuator or displaced oil flow for example, on the opposite side of the piston of a hydraulic cylinder displaced volume flow is thereby fed to the telescopic drive.
  • the in turn displaced in the telescopic drive volume flow is preferably discharged to the tank.
  • the area ratios of the hydraulic actuators must be matched to the desired Vertikalhubterrorism for these simple conditions.
  • one or the other volume flow can still be supplied or withdrawn from hydraulic fluid, for example also as a function of the respective pivoting angle of the arm.
  • logic functions can be routed into the controller to achieve load independent lift ratios.
  • system variables such as lengths, angles of rotation, forces, accelerations u. Like. Be returned from the system in the controller.
  • the control can also be supplemented by a control. In the control is further provided that the lifting or lowering movement is continued unimpaired when completely off or retracted telescopic cylinder.
  • corresponding elements can be added to realize safety-related shutdown paths of the system.
  • the swivel drive can be assigned a compensation drive connected in parallel with the swivel drive, which is connected in series with the telescopic drive, wherein the volume flow displaced in the compensation drive or telescope drive drives the telescopic drive or compensating drive.
  • Pivoting drive and telescopic drive realized by a compensation drive preferably in conjunction with a logic element.
  • the compensation drive is for this purpose, for example, connected to the mast and thus directly mechanically coupled to the pivot drive for lifting / lowering.
  • oil quantity is shifted in the compensating drive.
  • This is fed to the telescopic drive.
  • the telescopic movement for the lowering / lifting movement can be adjusted such that the articulation point for the tool or the tool itself is moved at least almost in the vertical stroke.
  • the logic element may include required safety functions as well as allowing normal pivotal movement when a drive is in its end position. For this purpose, it is possible to conduct additional volume flows via the logic element. It is also possible to supply a volume flow for compensating for shortfalls caused by superimposed telescoping movements.
  • the compensating drive may exceed a dead center when the boom is displaced between the lower and the upper working positions in order to achieve a movement path of the free arm end extending at least almost along a vertical.
  • the vertical stroke can also be realized in the lower stroke range of the device by reversing the conveying direction in the compensation drive when passing through the dead center position.
  • the telescopic drive and the pivot drive are connected in parallel, wherein in at least one supply line to the drives a flow divider is provided.
  • the forced coupling between the telescopic drive and rotary actuator is realized on actuation of the lifting / lowering function on the control by a quantity sharing of the flow flowing to the telescopic drive and rotary actuator flow.
  • the amount of division is independent of the load in an adjustable ratio.
  • This telescopic drive and rotary actuator are supplied in parallel and the desired movement is implemented. If a drive is moved to an end position, the circuit ensures that the other drive can continue to be moved without restriction. For example, so always lowering movements are possible even with full Einteleskop réelle the boom.
  • the logic can override the Telescopic movement on the vertical stroke in a particularly simple manner, but only insofar as no unallowed high tipping moment can be effective.
  • a flow divider may be provided in at least one supply line between telescopic drive and rotary drive, the excess fluid preferably returns to a tank.
  • the forced coupling between telescopic drive and rotary actuator is achieved by operating the lift / lower function on the control by a serial circuit, but which extends the functionality of the pure serial interconnection.
  • the volume flow coming from the control part upon actuation of the lifting function is first directed to the telescopic drive, for example.
  • the flowing back from the other displacement of the telescopic drive volume flow is fed to a flow divider.
  • An adjustable amount of the volume flow now reaches the rotary actuator, whereby the desired lifting function can be realized. Excess amount is returned to the tank.
  • Fig. 10 shows a hydraulic circuit diagram with serial connection and compensation drive.
  • An inventive charging system for a telescopic loader 1 comprises a telescopic, equipped with a telescopic drive 2 boom 4, the lower, vehicle-side boom end is pivotally hinged to a frame 5 and the free end of the boom can be coupled with a loading tool 6, wherein the boom 4 additionally with a rotary actuator 7 is displaceable between a lower and an upper working position.
  • the control from the telescopic drive 2 and the pivot drive 7 takes place via a controller 8, the required energy being provided by a supply unit 9 and a switching logic 10.
  • the boom length L is dependent on the boom pivot position, in particular from the boom pivot angle a, of a control 8 associated with the telescopic drive 2 and the pivot drive 7 on one Area B limited, the virtual, perpendicular and perpendicular to the cantilever pivot axis 1 1 level E in the region of the free boom end 12 does not exceed, the normal distance N of the plane E to boom pivot axis 1 1 smaller than the largest boom length L G but greater than that smallest boom length L K is.
  • boom length L is specified as a function of the boom pivot position by the control 8 associated with the telescopic drive 2 and the pivot drive 7 in the sense of at least partially stopping or achieving an at least partially constant distance of the free boom end 12 to the plane E, a vertical displacement of a load can be achieved be made.
  • the maximum boom length L G is reached, a vertical movement of the load in or parallel to the plane E can be realized.
  • the invention is presented by means of block diagrams or circuit diagrams for a hydraulic or an electro-hydraulic telescopic drive 2 and rotary actuator 7.
  • the supply of telescopic drive 2 and rotary drive 7 takes place with energy via a switching logic 10 from the supply unit 9, an energy store, a pump or the like.
  • the control is the switching logic 10 while how much energy the respective drive is to supply to map the desired lifting function on the load.
  • a feedback of system variables to the controller 8 is indicated.
  • a control is thus optionally provided.
  • the supply unit 9 can also record a circuit part or parts of the controller.
  • the telescopic drive 2 and the pivot drive 7 are connected in series, wherein the volume flow displaced in the telescopic drive 2 or in the pivot drive 7 drives the pivot drive 7 or the telescopic drive 2.
  • the rotary actuator is driven to lift and is the in
  • Swivel drive on the opposite side displaced hydraulic fluid flow via the switching logic 10 to the telescopic drive 2 forwarded.
  • the telescopic drive 2 displaced liquid is returned, for example, to the supply unit, the control guide part 9 and possibly in the tank.
  • the pivot drive 7 is assigned a compensation drive 13 connected in parallel with the pivot drive 7, which is connected in series with the telescopic drive 2 via the control logic 10, wherein the volume flow displaced in the compensation drive 13 or telescopic drive 2 is the telescopic drive 2 or the compensation drive 13 drives, depending on whether the boom should be raised or lowered.
  • FIG. 5 shows a block diagram with serial connection of rotary actuator 7 and telescopic drive 2 with serial interconnection, wherein in the connecting line between telescopic drive 2 and rotary actuator 7, a flow divider 14 is provided, the excess fluid in a tank, which is part of the supply 9, for example, leads back.
  • a parallel connection with additional flow divider 14 is provided.
  • the following circuit diagrams show highly simplified hydraulic circuits that are suitable for realizing the invention.
  • the switching logic is again denoted by 10 and includes various, optionally controlled by the controller 8 switching or control valves.
  • Fig. 7 shows a direct coupling, namely a series connection between the telescopic drive 2 and pivot drive 7, wherein each displaced on an opposite piston surface amount of hydraulic fluid from a cylinder is used to control the other cylinder.
  • FIG. 8 A simplified circuit for a vertical lowering movement with serial connection and with additional flow divider 14 is shown in Fig. 8.
  • a lifting cylinder valve Upon actuation of a lifting cylinder valve, the volume flow from the supply device 9 of a pump, passed through valves 10 to the telescopic drive 2 and displaced on the bottom side of the telescopic cylinder oil is passed through the flow divider 14 to the pivot cylinder. Excess amount is returned from the flow divider into a tank.
  • a bypass line is provided in order to enable even after a complete extension / retraction of the telescopic drive 2 against the stop and an adjustment of the rotary actuator 7, in turn.
  • a circuit variant with compensation drive 13 is shown for example in FIG. 10. The operation is similar to the variant according to FIG. 7.
  • the defined division ratio between the movement speeds of telescopic drive 2 and pivot drive 7 is determined via the compensation drive 13.
  • the displaced during a pivoting movement of the boom in the compensation drive 13 amount of fluid can be used directly for the telescoping of the boom.
  • Safety circuits and functionally relevant valves complemented the structure again.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Operation Control Of Excavators (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

L'invention concerne un dispositif de chargement doté d'une installation de chargement télescopique, en particulier un véhicule de chargement (1). Le dispositif comprend un bras (4) télescopique équipé d'un entraînement télescopique (2), lequel bras est articulé de manière à pouvoir pivoter sur un cadre (5) et dont l'extrémité libre (12) peut être accouplée à un outil de chargement (6). Le bras (4) peut en outre être déplacé entre une position de travail inférieure et une position de travail supérieure au moyen d'un entraînement pivotant (7). L'invention vise à proposer des conditions de levage avantageuses. A cet effet, la longueur du bras (L) en association avec la position de pivotement du bras est délimitée par une commande (8) associée à l'entraînement télescopique (2) et à l'entraînement pivotant (7) sur une zone (B) ne dépassant pas ou guère d'un plan (E) virtuel vertical et perpendiculaire à l'axe de pivotement (11) du bras dans la zone de l'extrémité libre (12) du bras, l'écart normal (N) entre le plan (E) et l'axe de pivotement (11) du bras étant inférieur à la plus grande longueur (Lg) du bras.
PCT/AT2012/050034 2011-03-16 2012-03-13 Dispositif de chargement utilisant un appareil de chargement télescopique WO2012122581A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12714925.0A EP2686265B1 (fr) 2011-03-16 2012-03-13 Dispositif de chargement utilisant un appareil de chargement télescopique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA360/2011 2011-03-16
AT3602011A AT511319B1 (de) 2011-03-16 2011-03-16 Vorrichtung zum Laden mit teleskopierbarer Ladeeinrichtung

Publications (1)

Publication Number Publication Date
WO2012122581A1 true WO2012122581A1 (fr) 2012-09-20

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PCT/AT2012/050034 WO2012122581A1 (fr) 2011-03-16 2012-03-13 Dispositif de chargement utilisant un appareil de chargement télescopique

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Country Link
EP (1) EP2686265B1 (fr)
AT (1) AT511319B1 (fr)
WO (1) WO2012122581A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMO20120260A1 (it) * 2012-10-24 2014-04-25 Andrea Benassi Sistema di compensazione telescopica per macchine di sollevamento per l'ottenimento della verticalita' di sollevamento e discesa del carico
USD832551S1 (en) 2017-10-12 2018-10-30 Clark Equipment Company Loader
USD832552S1 (en) 2017-10-12 2018-10-30 Clark Equipment Company Lift arm for loader
US10626576B2 (en) 2016-12-16 2020-04-21 Clark Equipment Company Loader with telescopic lift arm

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202017001848U1 (de) 2017-04-06 2018-07-09 Liebherr-Werk Bischofshofen Gmbh Mobile Arbeitsmaschine, insbesondere Radlader zum Holzumschlag
DE102018120814A1 (de) 2018-08-27 2020-02-27 Claas Material Handling Gmbh Vorrichtung zum Laden mit teleskopierbarer Ladeeinrichtung
DE102018121287A1 (de) 2018-08-31 2020-03-05 Claas Material Handling Gmbh Verladefahrzeugstruktur
DE102021121163A1 (de) 2021-08-13 2023-02-16 Danfoss Power Solutions Gmbh & Co. Ohg Verbesserter Teleskoplader
DE102022105449A1 (de) 2022-03-08 2023-09-14 Kramer-Werke Gmbh Baumaschine oder Landmaschine

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10012431A1 (de) 1999-03-31 2000-10-26 Caterpillar Inc Verfahren und Vorrichtung zum Vorsehen einer koordinierten Steuerung eines Arbeitswerkzeuges
EP1312579A2 (fr) * 2001-10-29 2003-05-21 Ingersoll-Rand Company Manipulateur de matériaux avec un tableau électronique d' indication de la charge
EP1619161A1 (fr) * 2004-07-22 2006-01-25 J.C. Bamford Excavators Limited Procédé et machine avec dispositif pour limiter la portée de flèche
DE102007045532A1 (de) 2007-09-24 2009-04-02 Linde Material Handling Gmbh Teleskopstapler
EP2210854A1 (fr) * 2009-01-26 2010-07-28 Jungheinrich Aktiengesellschaft Chariot élévateur
DE102009018072A1 (de) 2009-04-20 2010-10-21 Robert Bosch Gmbh Mobile Arbeitsmaschine mit Beschleunigungssensor

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10012431A1 (de) 1999-03-31 2000-10-26 Caterpillar Inc Verfahren und Vorrichtung zum Vorsehen einer koordinierten Steuerung eines Arbeitswerkzeuges
EP1312579A2 (fr) * 2001-10-29 2003-05-21 Ingersoll-Rand Company Manipulateur de matériaux avec un tableau électronique d' indication de la charge
EP1619161A1 (fr) * 2004-07-22 2006-01-25 J.C. Bamford Excavators Limited Procédé et machine avec dispositif pour limiter la portée de flèche
DE102007045532A1 (de) 2007-09-24 2009-04-02 Linde Material Handling Gmbh Teleskopstapler
EP2210854A1 (fr) * 2009-01-26 2010-07-28 Jungheinrich Aktiengesellschaft Chariot élévateur
DE102009018072A1 (de) 2009-04-20 2010-10-21 Robert Bosch Gmbh Mobile Arbeitsmaschine mit Beschleunigungssensor

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMO20120260A1 (it) * 2012-10-24 2014-04-25 Andrea Benassi Sistema di compensazione telescopica per macchine di sollevamento per l'ottenimento della verticalita' di sollevamento e discesa del carico
US10626576B2 (en) 2016-12-16 2020-04-21 Clark Equipment Company Loader with telescopic lift arm
USD832551S1 (en) 2017-10-12 2018-10-30 Clark Equipment Company Loader
USD832552S1 (en) 2017-10-12 2018-10-30 Clark Equipment Company Lift arm for loader

Also Published As

Publication number Publication date
AT511319B1 (de) 2013-05-15
AT511319A1 (de) 2012-10-15
EP2686265B1 (fr) 2015-02-18
EP2686265A1 (fr) 2014-01-22

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